I am working on a project to drive a sliding door using a PMSM motor in position control mode (details are given in the below). I determined the PID coefficients using ST AN5464. The motor operates very good during normal right/left rotation commands. However, when the motor is holding a fixed position, it sometimes exhibits small vibrations.
When the motor is in a fixed position and I use the PWMC_SwitchOffPWM(pwmcHandle[M1]) function to disable PWM, the vibrations also stop. However, disabling the PWM is not desired in the project.
Below, I have attached a graph obtained using ST Motor Pilot V6.4.0 that shows the I_Q_MEAS and I_Q_REF signals of the PMSM motor during vibration in standstill (Although I couldn't take a screenshot as I wanted, it's clear that the I_Q_MEAS and and I_Q_REF signals are oscillating). As far as I understand, the I_Q_MEAS and I_Q_REF signals should remain stable when the motor is stationary.
Is there anyone who can help me with this issue? I would appreciate any suggestions for methods or functions I could use. Thank you in advance for your assistance.
Project:
ST MCW Ver : 6.4.0
STM32CubeIDE Ver : 1.19.0
Driving algorithm : FOC
Control board : Nucleo-G474RE
Power board : STEVAL-IHM023V3
Bridge : X-NUCLEO-IHM09M2
PMSM Motor : 24V, 8A, 300 RPM.
Encoder : Incremental, 1024.
PID Parameters:
PID_POSITION_KP_GAIN = 30000
PID_POSITION_KI_GAIN = 20
PID_POSITION_KD_GAIN = 400
